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Mathematical Problems in Engineering
Volume 2014, Article ID 957041, 12 pages
Research Article

Position Control of Pneumatic Actuator Using Self-Regulation Nonlinear PID

1Department of Control, Instrumentation and Automation, Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia
2Department of Control and Mechatronics Engineering, Faculty of Electrical Engineering, Universiti Teknologi Malaysia, 81310 Skudai, Malaysia
3Center for Artificial Intelligence and Robotics, Universiti Teknologi Malaysia, 54100 Kuala Lumpur, Malaysia

Received 26 February 2014; Accepted 28 May 2014; Published 22 June 2014

Academic Editor: Jun-Juh Yan

Copyright © 2014 Syed Najib Syed Salim et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The enhancement of nonlinear PID (N-PID) controller for a pneumatic positioning system is proposed to improve the performance of this controller. This is executed by utilizing the characteristic of rate variation of the nonlinear gain that is readily available in N-PID controller. The proposed equation, namely, self-regulation nonlinear function (SNF), is used to reprocess the error signal with the purpose of generating the value of the rate variation, continuously. With the addition of this function, a new self-regulation nonlinear PID (SN-PID) controller is proposed. The proposed controller is then implemented to a variably loaded pneumatic actuator. Simulation and experimental tests are conducted with different inputs, namely, step, multistep, and random waveforms, to evaluate the performance of the proposed technique. The results obtained have been proven as a novel initiative at examining and identifying the characteristic based on a new proposal controller resulting from N-PID controller. The transient response is improved by a factor of 2.2 times greater than previous N-PID technique. Moreover, the performance of pneumatic positioning system is remarkably good under various loads.